DE102010001304A1 - Traffic condition controlling method for e.g. electric car, involves computing probability of crash of car based on kinematic data and performing evasive maneuver by another car when crash is threatened by former car - Google Patents

Abstract

The method involves orienting a car (10) in travel direction (17) when another car (12) approaches the former car in the travel direction. Kinematic data is provided to the former car by the latter car over a communication device. Probability for crash i.e. rear crash, of the latter car is computed based on the kinematic data. An evasive maneuver i.e. automatic advance operation (24), is performed by the former car when the crash is threatened by the latter car. The kinematic data is made to communicate with car-to-car (C2C) communication or car-to-infrastructure facility (C2I) communication. An independent claim is also included for a device for controlling traffic condition, comprising a communication module.

Description

The invention relates to a method and a device for controlling a traffic situation.

State of the art

Are known systems in which with an ego sensor of a vehicle, eg. As a radar system, objects and / or other vehicles detected and the driver of the vehicle in a dangerous situation, for example. In the event of an impending rear-end accident, possibly warned by warning devices. Furthermore, an autonomous intervention in the operation of the vehicle is possible.

In the publication EP 1 020 834 B1 a device for performing communication between vehicles is described. This includes communication pattern determining means for determining a communication pattern based on position data associated with a position of a first vehicle, transmission means for transmitting information to a second vehicle using the determined communication pattern, receiving means for receiving information received from the one second vehicle was transmitted using the determined communication pattern, and approach state determining means for detecting an approach state with respect to another vehicle. It is provided that the data relating to a position of the first vehicle in the connected position data are data relating to the current position of the first vehicle and a planned future position of the first vehicle. The communication pattern determining means determines the communication pattern based on position data in a predetermined search range associated with a position of the first vehicle. In addition, the approach state determination means varies the search area in association with a detected approach state.

A communication system for vehicles is in the document US 2002/0003488 A1 described. In this case, individual vehicles can exchange data with each other, which can be used inter alia to avoid collisions.

In the publication TW 284 297 B1 is described an early warning system for avoiding an accident between vehicles. In this case, driving information of a vehicle is exchanged via wireless communication modules with surrounding vehicles. In case of a possible collision, a warning message is issued.

A method for predicting and avoiding accidents of a vehicle is in the document KR 754 135 B1 described. Here, information about a current position, a direction of movement and a current speed are exchanged between the vehicles via a wireless network. If a probability of an accident is high enough, a corresponding warning is issued.

A method and system for warning of a hazard are disclosed in the document GB 2 431 761 A known. The procedure and the system generate a warning signal to warn of the danger. The warning signal is relayed via inter-vehicle communication to other approaching vehicles.

Disclosure of the invention

Against this background, a method and a device with the features of the independent claims are presented. Further embodiments of the invention will become apparent from the dependent claims and the description.

With the invention, a control of a traffic situation is possible. The device according to the invention is typically arranged in a vehicle.

By applying a steering and / or drive arrangement of the vehicle automatic avoidance or reduction of rear-end collisions is possible.

In one embodiment of the method, detection of a probable rear impact is used by evaluation of so-called C2X data and thus of data exchanged during a communication between a first vehicle (C) involved in a traffic situation and at least one device (X). Such a device may be another vehicle participating in the traffic situation or possibly uninvolved, or a permanently installed infrastructure. When implementing the method can take place by suitable evasion of the first vehicle, which can be automatically initiated and implemented by the device according to the invention, a use of the first vehicle ahead lying free space for "escape forward".

The vehicles involved in a traffic situation, usually the trajectories of these vehicles, can not usually be recognized by a driver in time. That's it for the Driver not always possible to prevent or mitigate an imminent accident.

However, with the proposed method, it is now possible to use kinematic data about the traffic situation, usually kinematic object data, on other vehicles provided by other devices via C2X communication. This data is more comprehensive than the data obtained solely by an ego sensor of the first vehicle. Thus, in addition to current positions, motion trajectories of other vehicles can also be provided from their speed, acceleration, deceleration, steering angle, etc.

Infrastructure facilities can thereby expand the field of vision of the driver and also detect non-C2C vehicles that are not designed to exchange data. This data can be communicated, for example, by means of a C2I communication, starting from a permanently installed infrastructure device (I) and / or via a C2C communication, typically starting from a further vehicle (C), to the first vehicle (C) or ego vehicle become. In the aforementioned C2C communication, data is exchanged between vehicles. The additional vehicle may be directly, indirectly or not at all involved in the traffic situation, but as an observing vehicle it may nevertheless record and provide data on the traffic situation. As a rule, the infrastructure device and at least one further vehicle have sensors for observing or detecting the traffic situation and the vehicles involved in the traffic situation.

Several along a lane and thus a lane in the direction of travel arranged one behind the other, d. H. standing and / or moving vehicles can cooperatively reduce or avoid the rear-end collision. In addition, as part of the method and kinematic data that are sensed by the first vehicle, in addition to the provided by a device kinematic. Data can be used to determine the likelihood of impact.

A first vehicle, which is located in front of another approaching vehicle in the direction of travel, with the help of the provided via the C2X communication kinematic data on the traffic situation can capture the approaching vehicle better than is possible with the Ego sensor alone. Taking into account and / or evaluation of the data, the vehicle can automatically advance and / or drive aside when performing an evasive maneuver and thus reduce the consequences of the accident.

A processing module used in one embodiment of the method processes the received kinematic data about the other vehicles. These kinematic data and kinematic data of the own vehicle are evaluated by the data processing module. If, in the evaluation, it should appear that an impact and thus an accident is imminent, the data processing module can execute control commands for the automatic movement of the vehicle and thus for the automatic driving and / or steering of the vehicle in order to execute the avoidance maneuver. The control commands can be derived from the provided kinematic data for further development of the traffic situation.

The proposed method for avoiding a rear-end collision receives by C2C and C2I communication object data or kinematic data, eg. B. to a speed, to a direction, a steering angle, a deceleration, etc., on other, the first vehicle especially in the direction of travel following, second vehicles and can therefrom the probability of rear impact of a following, second vehicle in the first vehicle and thus calculate the ego vehicle. In this case, a rear impact can be prevented or reduced, since kinematic data and thus information about the traffic situation are available to the first vehicle ahead in the direction of travel through C2X communication. Thus, the available, ahead lying space can be used by the first vehicle in the event of an impending impact.

This usually object data, eg. Kinematic data of objects, usually used by other vehicles, said data u. a. Include positional data or motion trajectories transmitted from other devices, typically other vehicles, to the own, first vehicle via C2C and C2I communication. In addition, taking into account own sensor and navigation data, the own, first vehicle in the event of an imminent rear impact by an approaching second vehicle accident z. B. reduce by automatic advancement or prevent.

This is easily possible if enough space is available in front of the first vehicle. Otherwise, an advancing can also be carried out cooperatively with a third vehicle arranged in front of the first vehicle in the direction of travel. In this case, the further, preceding third vehicle is involved in the process, with this further third vehicle having at least one device, ie, as a rule, its own first vehicle, the second vehicle, and others Vehicles and / or infrastructure facilities kinematic data exchanged and processed. By advancing the forward third vehicle, the approaching first vehicle has a longer braking distance available, which may cause a possible reduction or prevention of an accident. The method can be carried out accordingly for other vehicles, which are arranged in the direction of travel of the first and third vehicle.

The device according to the invention is designed to carry out all the steps of the presented method. In this case, individual steps of this method can also be carried out by individual components of the device. Furthermore, functions of the device or functions of individual components of the device may be implemented as steps of the method. In addition, it is possible for steps of the method to be implemented as functions of at least one component of the device or of the entire device.

Within the scope of the invention, object data can be received by the vehicle-vehicle communication (C2C) or the vehicle infrastructure communication (C2I) and thus generally by the vehicle-device communication (C2X), and from this appropriate accident avoidance strategies can be calculated. on the basis of which action can be taken automatically so that an evasive maneuver is carried out. In a possible scenario of imminent tail impact, an accident can be avoided by an acceleration of the first and possibly further third vehicle and a resulting "escape forward". It is usually provided that no additional danger to other vehicles is created by the necessary acceleration maneuver.

In the context of the invention, of the first vehicle, which is arranged along the direction of travel in front of the approaching second vehicle, located in front of the first vehicle free space, thus a braking space or braking distance for the second vehicle, extending between the first and second vehicle is increased. For this purpose, the first vehicle can, for example, accelerate and thus save to the front.

Accidents can not only be reduced, but also prevented. For this purpose, an interaction of the data processing module with a drive device of the first vehicle is provided in an embodiment of the invention, wherein the data processing module to the drive device provides control commands for the automatic realization of the evasive maneuver. The method is u. a. for vehicles with an electric or hybrid drive but also for vehicles with internal combustion engines (eg with automated manual transmission) suitable.

Further advantages and embodiments of the invention will become apparent from the description and the accompanying drawings.

It is understood that the features mentioned above and those yet to be explained below can be used not only in the particular combination indicated, but also in other combinations or in isolation, without departing from the scope of the present invention.

Brief description of the drawings

1 shows a schematic representation of a first known from the prior art traffic situation.

2 shows a schematic representation of a traffic situation in an embodiment of the method according to the invention.

Embodiment of the invention

The invention is schematically illustrated by means of an embodiment in the drawings and will be described in detail below with reference to the drawings.

1 shows a schematic representation of a first phase ( 1a ) a traffic situation known from the prior art and a second phase ( 1b ) of this traffic situation. This is on a lane 2 along a direction of travel behind a first vehicle 4 a second vehicle approaching the first vehicle 6 arranged. It is also in front of the first vehicle 4 a third vehicle 8th , The first and the third vehicle 4 . 8th stand here at the end of a traffic jam in a column. Although a driver of the approaching second vehicle 6 the standing first vehicle 4 detects and braking for the second vehicle 6 caused by the original speed of the second vehicle 6 to a rear-end collision, in which the second vehicle 6 with the rear of the first vehicle 4 collided.

2a shows a schematic representation of a first phase of a traffic situation in an implementation of the method according to the invention. Further shows 2 B a second phase of this traffic situation.

In the traffic situation shown here are a first vehicle 10 , a second vehicle 12 , and a third vehicle 14 involved along a lane 16 in the direction of travel 17 behind each other are arranged. In addition, each of these vehicles 10 . 12 . 14 an embodiment of a device according to the invention 18 on, here a designed as an antenna communication module 20 and a data processing module 22 includes.

As 2a shows approaches in the same direction of travel 17 the first vehicle 10 the second vehicle 12 , It is intended that the first vehicle 10 via vehicle-to-device communication kinematic data on the second vehicle 12 to be provided. This data is transmitted via the communication modules 20 of the devices 18 said vehicles 10 . 12 transmitted, typically exchanged.

Taking this data into consideration, there is a probability for one in the direction of travel 17 oriented impact of the second vehicle 12 on the first vehicle 10 calculated. The first vehicle 10 continues to perform an evasive maneuver when passing through the second vehicle 12 a collision threatens. This evasive maneuver, here an automatic advance in the direction of travel 17 , is by the arrow 24 indicated. The evasive maneuver of the first vehicle 10 is stopped by braking, making the first vehicle 10 not on the third vehicle 14 impacts.

In the described embodiment of the invention, the received data is about the second vehicle 12 from the data processing module 22 of the first vehicle 10 evaluated. Here, the probability of the impact can be determined. The evasive maneuver can also be done by the data processing module 22 of the first vehicle 10 be initiated and controlled, the data processing module 22 of the first vehicle 10 For this purpose, provides suitable control commands for implementing the evasive maneuver. By performing the evasive maneuver, the second vehicle becomes 12 one in the direction of travel 17 oriented, additional brake room 26 provided for extending the braking distance.

In addition, the third vehicle 14 also be involved in the traffic situation. It is envisaged that the first vehicle 10 when performing the evasive maneuver the third vehicle 14 in the direction of travel 17 approaching, being the third vehicle 14 via the vehicle-to-device communication kinematic data about the first vehicle 10 are provided and taking into account this data a probability of impact of the first vehicle 10 on the third vehicle 14 is calculated. The third vehicle 14 Performs an evasive maneuver when passing through the first vehicle 10 a collision threatens. Since the vehicle-to-device communication is wireless, other vehicles can receive and further process the kinematic data, so that they too in the direction of travel 17 Can advance and dodge.

The kinematic data typically includes data on a location, a speed and / or acceleration of a vehicle, wherein the speed and / or acceleration can also be detected vectorially. The kinematic data is taken from the data processing modules 22 based on information provided by sensors used in the vehicles 10 . 12 . 14 are arranged, calculated.

In 2 is still a fixed infrastructure facility 28 shown schematically, which is also adapted to monitor the present traffic situation sensory and additional kinematic data on the trajectories of the vehicles 10 . 12 . 14 via a C2T communication of the vehicles 10 . 12 . 14 provide.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• EP 1020834 B1 [0003]
• US 2002/0003488 A1 [0004]
• TW 284297 B1 [0005]
• KR 754135 B1 [0006]
• GB 2431761 A [0007]

Claims (9)

Method for controlling a traffic situation in which it is provided that one in the direction of travel ( 17 ) oriented first vehicle ( 10 ) a second vehicle ( 12 ) in the direction of travel ( 17 ), where the first vehicle ( 10 ) via a vehicle-to-device communication kinematic data on the second vehicle ( 12 ) and, taking into account these data, a probability of collision of the second vehicle ( 12 ) on the first vehicle ( 10 ), the first vehicle ( 10 ) performs an evasive maneuver when, by the second vehicle ( 12 ) an impact threatens. Method according to Claim 1, in which a third vehicle ( 14 ) is involved in the traffic situation, it being provided that the first vehicle ( 10 ) when the evasive maneuver is performed on the third vehicle ( 14 ) in the direction of travel ( 17 ), wherein the third vehicle ( 14 ) via a vehicle-to-device communication kinematic data on the first vehicle ( 10 ) and considering this data, a probability of impact of the first vehicle ( 10 ) on the third vehicle ( 14 ), the third vehicle ( 14 ) performs an evasive maneuver when passing through the first vehicle ( 10 ) an impact threatens. Method according to one of the preceding claims, in which, in order to execute an evasive maneuver of at least one of said vehicles ( 10 . 12 . 14 ) an available, in the direction of travel ( 17 ) is used in front of the room. Method according to one of the preceding claims, in which the kinematic data are exchanged via a vehicle-to-vehicle communication designed as vehicle-to-vehicle communication. Method according to one of the preceding claims, in which the kinematic data are transmitted between at least one vehicle (as vehicle-to-device communication designed as vehicle-to-infrastructure communication). 10 . 12 . 14 ) and at least one infrastructure facility ( 28 ) be replaced. Method according to one of the preceding claims, in which a vehicle ( 10 . 12 . 14 ) is accelerated when performing the evasive maneuver. Method according to one of the preceding claims, in which a vehicle ( 10 . 12 . 14 ) in the evasive maneuver his lane ( 16 ) leaves. Method according to one of the preceding claims, in which the kinematic data about a vehicle ( 10 . 12 . 14 ) are determined by at least one sensor device. Device for a first vehicle ( 10 ) for controlling a traffic situation in which it is provided that in the direction of travel ( 17 ) oriented first vehicle ( 10 ) a second vehicle ( 12 ) in the direction of travel ( 17 ), the device ( 18 ) at least one communication module ( 20 ), which is adapted to the at least one first vehicle ( 10 ) provides kinematic data about the second vehicle via vehicle-to-device communication ( 12 ) and wherein the device ( 18 ) at least one data processing module ( 22 ), which is designed to take into account this data a probability of an impact of the second vehicle ( 12 ) on the first vehicle ( 10 ) and for the first vehicle ( 10 ) to cause an evasive maneuver to be carried out when, by the second vehicle ( 12 ) an impact threatens.

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